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<pre><span class="sourceLineNo">001</span>package calibration_demos;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import java.awt.Color;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import java.awt.geom.Point2D;<a name="line.4"></a>
<span class="sourceLineNo">005</span><a name="line.5"></a>
<span class="sourceLineNo">006</span>import ij.IJ;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import ij.ImagePlus;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import ij.ImageStack;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import ij.plugin.PlugIn;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import ij.process.ColorProcessor;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import ij.process.ImageProcessor;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import imagingbook.calibration.zhang.Calibrator;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import imagingbook.calibration.zhang.Calibrator.Parameters;<a name="line.13"></a>
<span class="sourceLineNo">014</span>import imagingbook.calibration.zhang.Camera;<a name="line.14"></a>
<span class="sourceLineNo">015</span>import imagingbook.calibration.zhang.ViewTransform;<a name="line.15"></a>
<span class="sourceLineNo">016</span>import imagingbook.calibration.zhang.testdata.ZhangData;<a name="line.16"></a>
<span class="sourceLineNo">017</span>import imagingbook.calibration.zhang.util.GridPainter;<a name="line.17"></a>
<span class="sourceLineNo">018</span>import imagingbook.lib.ij.IjLogStream;<a name="line.18"></a>
<span class="sourceLineNo">019</span>import imagingbook.lib.settings.PrintPrecision;<a name="line.19"></a>
<span class="sourceLineNo">020</span>import imagingbook.lib.util.ResourceUtils;<a name="line.20"></a>
<span class="sourceLineNo">021</span><a name="line.21"></a>
<span class="sourceLineNo">022</span>/**<a name="line.22"></a>
<span class="sourceLineNo">023</span> * This plugin performs Zhang's camera calibration on the<a name="line.23"></a>
<span class="sourceLineNo">024</span> * pre-calculated point data for the N given target views.<a name="line.24"></a>
<span class="sourceLineNo">025</span> * Based on the estimated intrinsic and extrinsic (view)<a name="line.25"></a>
<span class="sourceLineNo">026</span> * parameters, the corner points of the 3D target model are<a name="line.26"></a>
<span class="sourceLineNo">027</span> * then projected onto the corresponding calibration images<a name="line.27"></a>
<span class="sourceLineNo">028</span> * (a stack).<a name="line.28"></a>
<span class="sourceLineNo">029</span> * All rendering is done by pixel drawing (no graphic overlays).<a name="line.29"></a>
<span class="sourceLineNo">030</span> * <a name="line.30"></a>
<span class="sourceLineNo">031</span> * @author W. Burger<a name="line.31"></a>
<span class="sourceLineNo">032</span> * @version 2018/12/29<a name="line.32"></a>
<span class="sourceLineNo">033</span> */<a name="line.33"></a>
<span class="sourceLineNo">034</span>public class Demo_Zhang_Calibration implements PlugIn {<a name="line.34"></a>
<span class="sourceLineNo">035</span>        <a name="line.35"></a>
<span class="sourceLineNo">036</span>        private static boolean DEBUG = true;<a name="line.36"></a>
<span class="sourceLineNo">037</span>        <a name="line.37"></a>
<span class="sourceLineNo">038</span>        private static Class&lt;?&gt; resourceRootClass = ZhangData.class;<a name="line.38"></a>
<span class="sourceLineNo">039</span>        private static String resourceDir = "resources/";<a name="line.39"></a>
<span class="sourceLineNo">040</span>        private static String resourceName = "CalibImageStack.tif";<a name="line.40"></a>
<span class="sourceLineNo">041</span>        <a name="line.41"></a>
<span class="sourceLineNo">042</span>        private static boolean ShowObservedModelPoints = true;          // draw observed image points into a new stack<a name="line.42"></a>
<span class="sourceLineNo">043</span>        private static boolean ShowProjectedImagePoints = true;         // draw projected image points into the test image stack<a name="line.43"></a>
<span class="sourceLineNo">044</span>        private static boolean ListCameraViews = true;<a name="line.44"></a>
<span class="sourceLineNo">045</span>        <a name="line.45"></a>
<span class="sourceLineNo">046</span>        private static Color BackGroundColor = Color.white;<a name="line.46"></a>
<span class="sourceLineNo">047</span>        <a name="line.47"></a>
<span class="sourceLineNo">048</span>        static {<a name="line.48"></a>
<span class="sourceLineNo">049</span>                IjLogStream.redirectSystem();<a name="line.49"></a>
<span class="sourceLineNo">050</span>                PrintPrecision.set(6);<a name="line.50"></a>
<span class="sourceLineNo">051</span>        }<a name="line.51"></a>
<span class="sourceLineNo">052</span>        <a name="line.52"></a>
<span class="sourceLineNo">053</span>        public void run(String arg0) {<a name="line.53"></a>
<span class="sourceLineNo">054</span>                ImagePlus testIm = ResourceUtils.openImageFromResource(resourceRootClass, resourceDir, resourceName);<a name="line.54"></a>
<span class="sourceLineNo">055</span>                if (testIm == null) {<a name="line.55"></a>
<span class="sourceLineNo">056</span>                        IJ.error("Could not open calibration images!"); <a name="line.56"></a>
<span class="sourceLineNo">057</span>                        return;<a name="line.57"></a>
<span class="sourceLineNo">058</span>                }<a name="line.58"></a>
<span class="sourceLineNo">059</span>                <a name="line.59"></a>
<span class="sourceLineNo">060</span>                int M = testIm.getNSlices();    // number of views<a name="line.60"></a>
<span class="sourceLineNo">061</span>                if (M &lt; 2) {<a name="line.61"></a>
<span class="sourceLineNo">062</span>                        IJ.error("Image must be a stack with 2+ images!"); <a name="line.62"></a>
<span class="sourceLineNo">063</span>                        return;<a name="line.63"></a>
<span class="sourceLineNo">064</span>                }<a name="line.64"></a>
<span class="sourceLineNo">065</span>                <a name="line.65"></a>
<span class="sourceLineNo">066</span>                testIm.show();<a name="line.66"></a>
<span class="sourceLineNo">067</span>                int width = testIm.getWidth();<a name="line.67"></a>
<span class="sourceLineNo">068</span>                int height = testIm.getHeight();<a name="line.68"></a>
<span class="sourceLineNo">069</span>                Point2D[] modelPoints = ZhangData.getModelPoints();<a name="line.69"></a>
<span class="sourceLineNo">070</span>                Camera camReal = ZhangData.getCameraIntrinsics();<a name="line.70"></a>
<span class="sourceLineNo">071</span>                if (DEBUG) {<a name="line.71"></a>
<span class="sourceLineNo">072</span>                        System.out.println("Camera intrinsics (reference from EasyCalib):");<a name="line.72"></a>
<span class="sourceLineNo">073</span>                        System.out.println(camReal.toString());<a name="line.73"></a>
<span class="sourceLineNo">074</span>                }<a name="line.74"></a>
<span class="sourceLineNo">075</span>                <a name="line.75"></a>
<span class="sourceLineNo">076</span>//              ViewTransform[] viewsReal = ZhangData.getAllViewTransforms();   <a name="line.76"></a>
<span class="sourceLineNo">077</span>                Point2D[][] obsPoints     = ZhangData.getAllObservedPoints();<a name="line.77"></a>
<span class="sourceLineNo">078</span>                        <a name="line.78"></a>
<span class="sourceLineNo">079</span>                if (ShowObservedModelPoints){<a name="line.79"></a>
<span class="sourceLineNo">080</span>                        ImageStack stack = new ImageStack(width, height);<a name="line.80"></a>
<span class="sourceLineNo">081</span>                        drawSquares(stack, obsPoints);<a name="line.81"></a>
<span class="sourceLineNo">082</span>                        new ImagePlus("Observed points", stack).show();<a name="line.82"></a>
<span class="sourceLineNo">083</span>                }<a name="line.83"></a>
<span class="sourceLineNo">084</span>                <a name="line.84"></a>
<span class="sourceLineNo">085</span>                // Set up calibrator ------------------------------------------<a name="line.85"></a>
<span class="sourceLineNo">086</span>                <a name="line.86"></a>
<span class="sourceLineNo">087</span>                Parameters params = new Calibrator.Parameters();<a name="line.87"></a>
<span class="sourceLineNo">088</span>                params.normalizePointCoordinates = true;<a name="line.88"></a>
<span class="sourceLineNo">089</span>                params.lensDistortionKoeffients = 2;<a name="line.89"></a>
<span class="sourceLineNo">090</span>                params.useNumericJacobian = true;<a name="line.90"></a>
<span class="sourceLineNo">091</span>                params.debug = DEBUG;<a name="line.91"></a>
<span class="sourceLineNo">092</span>                <a name="line.92"></a>
<span class="sourceLineNo">093</span>                Calibrator zcalib = new Calibrator(params, modelPoints);<a name="line.93"></a>
<span class="sourceLineNo">094</span>                for (int i = 0; i &lt; M; i++) {<a name="line.94"></a>
<span class="sourceLineNo">095</span>                        zcalib.addView(obsPoints[i]);<a name="line.95"></a>
<span class="sourceLineNo">096</span>                }<a name="line.96"></a>
<span class="sourceLineNo">097</span>                <a name="line.97"></a>
<span class="sourceLineNo">098</span>                // Perform calibration ------------------------------------------<a name="line.98"></a>
<span class="sourceLineNo">099</span>                <a name="line.99"></a>
<span class="sourceLineNo">100</span>                Camera camFinal = zcalib.calibrate();<a name="line.100"></a>
<span class="sourceLineNo">101</span>                if (camFinal == null) {<a name="line.101"></a>
<span class="sourceLineNo">102</span>                        System.out.println("calibration failed");<a name="line.102"></a>
<span class="sourceLineNo">103</span>                        return;<a name="line.103"></a>
<span class="sourceLineNo">104</span>                }<a name="line.104"></a>
<span class="sourceLineNo">105</span>                <a name="line.105"></a>
<span class="sourceLineNo">106</span>                // Show results ------------------------------------------<a name="line.106"></a>
<span class="sourceLineNo">107</span>                <a name="line.107"></a>
<span class="sourceLineNo">108</span>                System.out.println("Camera intrinsics (final estimate):");<a name="line.108"></a>
<span class="sourceLineNo">109</span>                System.out.println(camFinal.toString());<a name="line.109"></a>
<span class="sourceLineNo">110</span>                <a name="line.110"></a>
<span class="sourceLineNo">111</span>                ViewTransform[] finalViews = zcalib.getFinalViews();<a name="line.111"></a>
<span class="sourceLineNo">112</span>                System.out.format("Final (squared) projection error: %.3f\n", zcalib.getProjectionError(camFinal, finalViews, obsPoints));<a name="line.112"></a>
<span class="sourceLineNo">113</span>                                <a name="line.113"></a>
<span class="sourceLineNo">114</span>                if (ListCameraViews) {<a name="line.114"></a>
<span class="sourceLineNo">115</span>                        for (int i = 0; i &lt; M; i++) {<a name="line.115"></a>
<span class="sourceLineNo">116</span>                                System.out.println("**** View " + i + ": ****");<a name="line.116"></a>
<span class="sourceLineNo">117</span>                                System.out.println(finalViews[i].toString());<a name="line.117"></a>
<span class="sourceLineNo">118</span>                        }<a name="line.118"></a>
<span class="sourceLineNo">119</span>                }<a name="line.119"></a>
<span class="sourceLineNo">120</span>                <a name="line.120"></a>
<span class="sourceLineNo">121</span>                if (ShowProjectedImagePoints) {<a name="line.121"></a>
<span class="sourceLineNo">122</span>                        Point2D[][] projPoints = new Point2D[M][];<a name="line.122"></a>
<span class="sourceLineNo">123</span>                        for (int i = 0; i &lt; M; i++) {<a name="line.123"></a>
<span class="sourceLineNo">124</span>                                projPoints[i] = camFinal.project(finalViews[i], modelPoints);<a name="line.124"></a>
<span class="sourceLineNo">125</span>                        }<a name="line.125"></a>
<span class="sourceLineNo">126</span>                        drawSquares(testIm.getStack(), projPoints);<a name="line.126"></a>
<span class="sourceLineNo">127</span>                        testIm.updateAndDraw();<a name="line.127"></a>
<span class="sourceLineNo">128</span>                }<a name="line.128"></a>
<span class="sourceLineNo">129</span>        }<a name="line.129"></a>
<span class="sourceLineNo">130</span>        <a name="line.130"></a>
<span class="sourceLineNo">131</span>        // --------------------------------------------------------------------<a name="line.131"></a>
<span class="sourceLineNo">132</span>        <a name="line.132"></a>
<span class="sourceLineNo">133</span>        /**<a name="line.133"></a>
<span class="sourceLineNo">134</span>         * Draws the array of image points to a given (possibly empty) stack image.<a name="line.134"></a>
<span class="sourceLineNo">135</span>         * The image points are assumed to be the corners of the standard<a name="line.135"></a>
<span class="sourceLineNo">136</span>         * calibration model, i.e., 4 consecutive points form a projected square.<a name="line.136"></a>
<span class="sourceLineNo">137</span>         * @param stack a stack with M images (views)<a name="line.137"></a>
<span class="sourceLineNo">138</span>         * @param imagePoints a sequence of 2D point sets, one for each view<a name="line.138"></a>
<span class="sourceLineNo">139</span>         */<a name="line.139"></a>
<span class="sourceLineNo">140</span>        private void drawSquares(ImageStack stack, Point2D[][] imagePoints) {<a name="line.140"></a>
<span class="sourceLineNo">141</span>                final int width = stack.getWidth();<a name="line.141"></a>
<span class="sourceLineNo">142</span>                final int height = stack.getHeight();<a name="line.142"></a>
<span class="sourceLineNo">143</span>                int M = imagePoints.length;<a name="line.143"></a>
<span class="sourceLineNo">144</span>                for (int i = 0; i &lt; M; i++) {<a name="line.144"></a>
<span class="sourceLineNo">145</span>                        ImageProcessor ip;<a name="line.145"></a>
<span class="sourceLineNo">146</span>                        if (stack.getSize() &gt; i) {      // use existing stack slice<a name="line.146"></a>
<span class="sourceLineNo">147</span>                                ip = stack.getProcessor(i + 1);<a name="line.147"></a>
<span class="sourceLineNo">148</span>                        }<a name="line.148"></a>
<span class="sourceLineNo">149</span>                        else {                                          // create and fill new slice<a name="line.149"></a>
<span class="sourceLineNo">150</span>                                ip = new ColorProcessor(width, height);<a name="line.150"></a>
<span class="sourceLineNo">151</span>                                if (BackGroundColor != null) {<a name="line.151"></a>
<span class="sourceLineNo">152</span>                                        ip.setColor(BackGroundColor);<a name="line.152"></a>
<span class="sourceLineNo">153</span>                                        ip.fill();<a name="line.153"></a>
<span class="sourceLineNo">154</span>                                }<a name="line.154"></a>
<span class="sourceLineNo">155</span>                                stack.addSlice("View" + i, ip);<a name="line.155"></a>
<span class="sourceLineNo">156</span>                        }<a name="line.156"></a>
<span class="sourceLineNo">157</span>                        GridPainter painter = new GridPainter(ip);<a name="line.157"></a>
<span class="sourceLineNo">158</span>                        painter.drawSquares(imagePoints[i]);<a name="line.158"></a>
<span class="sourceLineNo">159</span>                }<a name="line.159"></a>
<span class="sourceLineNo">160</span>        }<a name="line.160"></a>
<span class="sourceLineNo">161</span>        <a name="line.161"></a>
<span class="sourceLineNo">162</span>}<a name="line.162"></a>




























































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